CN112544061B

CN112544061B - Data transmission method and device

Info

Publication number: CN112544061B
Application number: CN202080004258.2A
Authority: CN
Inventors: 李�杰
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2020-07-16
Filing date: 2020-07-16
Publication date: 2021-11-30
Anticipated expiration: 2040-07-16
Also published as: EP4191978A4; EP4191978A1; CN112544061A; US20230156748A1; JP2023534048A; WO2022011638A1

Abstract

The application provides a data transmission method and a data transmission device applied to vehicles, which are applied to intelligent vehicles and networked vehicles and can quickly and accurately complete instantaneous snapshot of the vehicles and state monitoring of the vehicles. The vehicle comprises at least one area integrated unit (VIU), communication connection is established between the at least one VIU and the control equipment, and the control equipment and the at least one VIU are accessed to the same multicast group; the method comprises the following steps: the first VIU acquires the monitored information, wherein the first VIU is any one of the at least one VIU; the first VIU transmits a multicast message through the multicast group, the multicast message comprises information detected by the first VIU, so that the control equipment acquires the multicast message through monitoring the multicast group, and the multicast message is used for analyzing the state of the vehicle by the control equipment.

Description

Data transmission method and device

Technical Field

The present application relates to the field of automobiles, and in particular, to a data transmission method and apparatus.

Background

With the development of automobile technology, the demand for intelligent automobiles is also gradually increasing. In a commonly used vehicle, each module inside the vehicle is connected and communicated through a Controller Area Network (CAN) bus, so that information of each module inside the vehicle is analyzed or monitored through the CAN bus.

However, the bandwidth of the CAN bus is small, and the transmission efficiency of the information data to each module inside the vehicle is low due to the limitation of the bandwidth. Therefore, how to increase the transmission speed of information inside the vehicle is a problem to be solved urgently.

Disclosure of Invention

The embodiment of the application provides a data transmission method and a data transmission device, which are used for quickly and accurately finishing instantaneous snapshot of a vehicle and state monitoring of the vehicle.

In view of the foregoing, in a first aspect, the present application provides a data transmission method, which is applied to a vehicle, where the vehicle includes at least one Vehicle Integration Unit (VIU), at least one VIU and a control device establish a communication connection, and the control device and the at least one VIU access a same multicast group, the method includes: the first VIU acquires the monitored information, wherein the first VIU is any one of the at least one VIU; the first VIU transmits a multicast message through the multicast group, the multicast message comprises information detected by the first VIU, so that the control equipment acquires the multicast message through monitoring the multicast group, and the multicast message is used for analyzing the state of the vehicle by the control equipment.

Therefore, in the method provided by the present application, one or more VIUs of the vehicle may establish a communication connection, and may establish a multicast group, so as to transmit a multicast packet in the multicast group, and complete transmission of the snapshot of the vehicle. The snapshot transmission of the vehicle is quickly realized through high-speed and efficient transmission of communication networks such as an Ethernet or a wireless network. The control equipment can rapidly receive the multicast message sent by the VIU by monitoring the multicast group, so that the state of the vehicle is analyzed through the received one-frame or multi-frame multicast message, and the efficiency of the control equipment for receiving the information monitored by the VIU is improved.

In one possible embodiment, the aforementioned communication network may include wired communication or wireless communication, i.e., the control device and the at least one VIU are established with an ethernet connection or a wireless communication connection; the first VIU transmits the multicast packet through the multicast group, which may include: the first VIU transmits the multicast message to the multicast group through Ethernet connection or wireless connection.

Therefore, in the embodiment of the application, the VIUs or the VIUs and the control device may be connected via the ethernet and/or the wireless network, and a multicast group is formed based on the ethernet and/or the wireless network, so as to complete efficient transmission of information monitored by the VIUs, and the control device may efficiently acquire the information monitored by the VIUs via the multicast group, thereby completing analysis of the vehicle state.

In one possible embodiment, at least two VIUs are included in the vehicle, and before the first VIU transmits the multicast message to the multicast group, the method may further include: the first VIU and other VIUs except the first VIU are time-synchronized; the transmitting, by the first VIU, the multicast packet to the multicast group may include: and the first VIU sends the multicast message according to the time axis after time synchronization.

Therefore, in the embodiment of the present application, before the vus transmit data, or periodically, time synchronization may be performed between the vus, so that the vus may transmit the multicast packet according to a synchronized time axis, so that each vu in the vehicle may transmit the multicast packet synchronously, or a time stamp after time synchronization is printed in the multicast packet, so that the control device may obtain an instantaneous snapshot of the vehicle.

In one possible implementation, the transmitting, by the first VIU, the multicast packet to the multicast group includes: the first VIU periodically sends the multicast message. In the embodiment of the application, the VIU can periodically send the multicast message, so that the control device can monitor the state of the vehicle.

In one possible implementation, the information monitored by the first VIU includes one or more of: the information of the state of the first VIU, the information of the I/O interface of the first VIU, the original sampling value of the analog-digital conversion ADC in the first VIU or the information collected by the sensor monitored by the first VIU.

Therefore, in the embodiment of the present application, the VIU may transmit the state information of the VIU, the information of the I/O interface, the original sampling value of the ADC, or the information collected by the sensor to the multicast group, so that the control device may complete monitoring of the state of the vehicle through the multicast packet transmitted in the multicast group.

In one possible embodiment, the information acquired by the sensor is used for controlling the device to plan the driving path of the vehicle. Therefore, in the embodiment of the application, on the premise of efficient communication in the multicast group established based on the ethernet or the wireless network, the control device can efficiently and quickly plan the driving path of the vehicle through the information acquired by the sensor, so that the vehicle can more accurately and quickly determine the driving path, and the safety of the vehicle is improved.

In one possible implementation, before the first VIU transmits the multicast packet to the multicast group, the method further includes: a first VIU receives a joining request sent by a control device, wherein the joining request is used for requesting to join a multicast group; the first VIU replies a multicast address to the joining request so that the control equipment joins in the multicast group through the multicast address, monitors a port corresponding to the multicast address and receives the multicast message.

Therefore, in the embodiment of the present application, the control device may request the VIU to join the multicast group, so as to obtain the permission to monitor the multicast group, monitor the port corresponding to the multicast address, and receive the multicast packet.

In a possible implementation, the method may further include: a first VIU receives a control instruction sent by control equipment; the first VIU controls one or more of an I/O interface, a sensor, or an actuator of the vehicle of the first VIU in accordance with the control instructions.

Therefore, in the embodiment of the present application, the control device can efficiently and accurately control the I/O interface, the sensor, the actuator of the vehicle, or the like of the VIU. When the control equipment is connected with the VIU through the wireless network, the vehicle can be remotely controlled, and user experience is improved.

In a second aspect, the present application provides a data transmission method applied to a vehicle, where the vehicle includes at least one area integrated unit, the at least one VIU and a control device establish a communication connection, and the control device and the at least one VIU access a same multicast group, and the method includes: the control equipment acquires a multicast address of a multicast group; the control equipment monitors a port corresponding to the multicast address and acquires at least one frame of multicast message through the port, wherein the multicast message comprises information monitored by a first VIU in at least one VIU, and the first VIU is any one of the at least one VIU; the control device analyzes the state of the vehicle through at least one frame of the multicast message.

In one possible embodiment, the control device and the at least one VIU establish an Ethernet connection or a wireless connection. The control device may receive the multicast packet transmitted in the multicast group through the ethernet connection and/or the wireless connection.

In one possible embodiment, the at least one frame multicast message includes one or more of the following: status information of the at least one VIU, information of an I/O interface of the at least one VIU, raw sample values of an analog-to-digital conversion ADC in the at least one VIU, or information collected by a sensor monitored by the at least one VIU.

In one possible embodiment, when the at least one multicast message includes information collected by at least one sensor monitored by the VIU, the method further includes: and the control equipment plans the driving path of the vehicle according to the information acquired by the at least one VIU monitored sensor. Therefore, in the embodiment of the application, on the premise of efficient communication in the multicast group established based on the ethernet or the wireless network, the control device can efficiently and quickly plan the driving path of the vehicle through the information acquired by the sensor, so that the vehicle can more accurately and quickly determine the driving path, and the safety of the vehicle is improved.

In a possible implementation manner, acquiring at least one frame of multicast packet through a port may include: the control device periodically receives at least one frame of multicast message transmitted to the multicast group by at least one VIU through the port. In the embodiment of the application, the VIU can periodically send the multicast message, so that the control device can monitor the state of the vehicle.

In a possible implementation manner, the acquiring, by the control device, a multicast address of the multicast group may include: the control equipment sends a joining request to the first VIU, wherein the joining request is used for requesting to join the multicast group; and the control equipment receives the multicast address replied by the first VIU.

In one possible embodiment, after the control device analyzes the state of the vehicle through at least one frame of the multicast message, the method further includes: the control apparatus generates an analysis image according to a change over time in a state of the vehicle, and displays the analysis image.

Therefore, in the embodiment of the present application, the control apparatus may generate and display an analysis image of a change in the state of the vehicle with time, so that the user can intuitively observe the state of the vehicle through the analysis image.

In a possible implementation, the method may further include: the control device sends control instructions to the at least one VIU, the control instructions for controlling one or more of the I/O interfaces, sensors, or actuators of the at least one VIU.

In a third aspect, the present application provides an electronic device comprising a display, a memory, one or more processors configured to execute one or more computer programs stored in the memory, the memory having code for a Graphical User Interface (GUI) stored therein, the one or more processors configured to execute the code for the GUI stored in the memory to cause the display to display the GUI stored in the memory, the GUI comprising:

displaying a multicast address of a multicast group on a display screen, wherein the multicast group comprises at least one VIU;

and responding to the confirmation operation aiming at the multicast address and receiving at least one frame of multicast message transmitted by at least one VIU in the multicast group, and displaying the information included in the at least one frame of multicast message in the display screen.

In a possible implementation manner, the graphical user interface may specifically include:

displaying one or more of status information of the at least one VIU, information of an I/O interface of the at least one VIU, raw sample values of an analog-to-digital conversion ADC in the at least one VIU, or information collected by a sensor monitored by the at least one VIU.

generating an analysis image in response to a change over time in accordance with a state of the vehicle, the analysis image being displayed.

In a fourth aspect, the present application provides a regional integrated unit VIU for a vehicle, where the vehicle includes at least one regional integrated unit VIU, the VIU is any one of the at least one VIU, the at least one VIU and a control device establish a communication connection, the control device and the at least one VIU access a same multicast group, and the VIU includes:

the monitoring module is used for acquiring monitored information;

and the transceiver module is used for transmitting the multicast message through the multicast group, wherein the multicast message comprises information detected by the first VIU, so that the control equipment acquires the multicast message by monitoring the multicast group, and the multicast message is used for analyzing the state of the vehicle by the control equipment.

The advantageous effects produced by any one of the possible embodiments of the fourth aspect and the fourth aspect can be obtained by referring to the description of any one of the possible embodiments of the first aspect and the first aspect.

In one possible embodiment, the control device and the at least one VIU establish an Ethernet connection and/or a wireless communication connection;

and the transceiver module is specifically used for transmitting the multicast message in the multicast group through Ethernet connection and/or wireless connection.

In one possible embodiment, at least two VIUs are included in the vehicle, and before the first VIU transmits the multicast message to the multicast group, the VIU further includes: the synchronization module is used for carrying out time synchronization with other VIUs except the VIU;

and the transceiver module is specifically used for transmitting the multicast message according to the time axis after time synchronization.

In a possible implementation manner, the transceiver module is specifically configured to periodically send the multicast packet.

In one possible embodiment, the information monitored by the monitoring module includes one or more of the following: the information of the VIU state, the information of the I/O interface of the VIU, the original sampling value of an analog-digital conversion ADC in the VIU or the information collected by a sensor monitored by the VIU.

In one possible embodiment, the information acquired by the sensor is used for controlling the device to plan the driving path of the vehicle.

In a possible implementation manner, before the transceiver module transmits the multicast packet to the multicast group, the transceiver module is further configured to: receiving a joining request sent by a control device, wherein the joining request is used for requesting to join a multicast group; and replying the multicast address according to the joining request so that the control equipment joins in the multicast group through the multicast address, monitors a port corresponding to the multicast address and receives the multicast message.

In one possible embodiment, the VIU may further include: a control module; the receiving and sending module is also used for receiving a control instruction sent by the control equipment; and the control module is used for controlling one or more of an I/O interface, a sensor or an actuator of the vehicle of the first VIU according to the control instruction.

In a fifth aspect, the present application provides a control device for a vehicle, where the vehicle includes at least one area integrated unit, the at least one VIU and the control device establish a communication connection, the control device and the at least one VIU access a same multicast group, and the control device includes:

the receiving and sending module acquires a multicast address of the multicast group;

the monitoring module is used for controlling the equipment to monitor the port corresponding to the multicast address;

the receiving and sending module is further configured to obtain at least one frame of multicast packet through the port, where the multicast packet includes information monitored by a first VIU of the at least one VIU, and the first VIU is any one of the at least one VIU;

and the processing module is used for analyzing the state of the vehicle through at least one frame of multicast message.

The advantageous effects produced by any one of the possible embodiments of the fifth aspect and the fifth aspect can be obtained by referring to the description of any one of the possible embodiments of the second aspect and the second aspect.

In one possible embodiment, the control device and the at least one VIU establish an Ethernet connection and/or a wireless connection;

and the transceiver module is specifically configured to receive the multicast packet transmitted in the multicast group through ethernet connection and/or wireless connection.

In a possible implementation manner, when the at least one multicast message includes information collected by at least one sensor monitored by the VIU, the processing module is further configured to plan a driving path of the vehicle according to the information collected by the at least one sensor monitored by the VIU.

In a possible implementation, the transceiver module is specifically configured to periodically receive, through the port, at least one frame of multicast packet transmitted to the multicast group by at least one VIU.

In a possible implementation, the transceiver module is further configured to: sending a joining request to a first VIU, wherein the joining request is used for requesting to join a multicast group, and the first VIU is any one of at least one VIU; and receiving the multicast address replied by the first VIU.

In one possible embodiment, the control device further comprises: a display module;

the processing module is also used for generating an analysis image according to the change of the state of the vehicle along with time after the control equipment analyzes the state of the vehicle through at least one frame of multicast message;

and the display module is used for displaying the analysis image.

In one possible embodiment, the transceiver module is further configured to send a control command to the at least one VIU, where the control command is configured to control one or more of an I/O interface, a sensor, or an actuator of the at least one VIU.

In a sixth aspect, an embodiment of the present application provides a VIU having a function of implementing the data transmission method according to the first aspect. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.

In a seventh aspect, an embodiment of the present application provides a control apparatus, including: a processor and a memory, wherein the processor and the memory are interconnected by a line, and the processor calls the program code in the memory to execute the processing-related functions of the data transmission method according to any one of the first aspect.

In an eighth aspect, an embodiment of the present application provides a data transmission apparatus, which may also be referred to as a digital processing chip or a chip, where the chip includes a processing unit and a communication interface, the processing unit obtains program instructions through the communication interface, and the program instructions are executed by the processing unit, and the processing unit is configured to execute functions related to processing in the foregoing first aspect or any one of the optional implementations of the first aspect.

In a ninth aspect, embodiments of the present application provide a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to perform the method of the first aspect, any of the optional embodiments of the first aspect, the second aspect, or any of the optional embodiments of the second aspect.

In a tenth aspect, embodiments of the present application provide a computer program product comprising instructions, which when run on a computer, cause the computer to perform the method of the first aspect, any of the optional embodiments of the first aspect, the second aspect, or any of the optional embodiments of the second aspect.

In an eleventh aspect, the present application provides a vehicle, where the vehicle includes at least one VIU, where the at least one VIU and the control device establish a communication connection, and the control device and the at least one VIU access the same multicast group; at least one VIU for performing the method of the first aspect, any of the optional embodiments of the first aspect; the control apparatus is adapted to perform the method of the second aspect or any of the alternative embodiments of the second aspect.

In a twelfth aspect, the present application provides a data transmission system, including a control device and at least one VIU, where the at least one VIU and the control device establish a communication connection, and the control device and the at least one VIU access a same multicast group; at least one VIU for performing the method of the first aspect, any of the optional embodiments of the first aspect; the control apparatus is adapted to perform the method of the second aspect or any of the alternative embodiments of the second aspect.

Drawings

FIG. 1 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a data transmission system provided in the present application;

fig. 3A is a schematic structural diagram of another data transmission system provided in the present application;

fig. 3B is a schematic structural diagram of another data transmission system provided in the present application;

fig. 4 is a schematic structural diagram of another data transmission system provided in the present application;

fig. 5 is a schematic flowchart of a data transmission method provided in the present application;

fig. 6 is a schematic flowchart of a data transmission method provided in the present application;

FIG. 7 is a schematic diagram of a data transmission method provided in the present application;

fig. 8 is a schematic view of an application scenario of a data transmission method provided in the present application;

fig. 9 is a schematic view of an application scenario of another data transmission method provided in the present application;

fig. 10A is a schematic view of an application scenario of another data transmission method provided in the present application;

fig. 10B is a schematic view of an application scenario of another data transmission method provided in the present application;

FIG. 11 is a schematic illustration of a GUI display interface provided herein;

FIG. 12 is a schematic view of another GUI display interface provided herein;

FIG. 13 is a schematic view of another GUI display interface provided herein;

FIG. 14 is a schematic view of another GUI display interface provided herein;

FIG. 15 is a schematic view of another GUI display interface provided herein;

FIG. 16 is a schematic view of a display interface of another GUI provided herein;

FIG. 17 is a schematic view of another GUI display interface provided herein;

FIG. 18 is a schematic view of another GUI display interface provided herein;

FIG. 19 is a schematic view of another GUI display interface provided herein;

FIG. 20 is a schematic view of another GUI display interface provided herein;

fig. 21 is a schematic structural diagram of a VIU according to the present application;

fig. 22 is a schematic structural diagram of a control device provided in the present application;

fig. 23 is a schematic diagram of another VIU provided herein;

FIG. 24 is a schematic structural diagram of another control apparatus provided in the present application;

fig. 25 is a schematic structural diagram of a chip provided in the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The data transmission method provided by the embodiment of the application can be applied to various scenes related to the vehicle, such as the scenes of planning the driving path of the vehicle, monitoring the vehicle state or remotely controlling the vehicle and the like. In addition, the present application may also be applied to scenarios such as planning driving paths of various robots, monitoring vehicle states, or remotely controlling vehicles, for example, a freight robot, a detection robot, a sweeping robot, or other types of robots, where the application scenario is further described by taking the freight robot as an example, when the freight robot is transporting, the state of the freight robot may be monitored in real time, a transportation path may be planned, or the like may be remotely controlled, so as to complete transportation safely and stably.

Embodiments of the present application are described below with reference to the accompanying drawings. As can be known to those skilled in the art, with the development of technology and the emergence of new scenarios, the technical solution provided in the embodiments of the present application is also applicable to similar technical problems.

In order to facilitate understanding of the present disclosure, in the embodiment of the present disclosure, a structure of a vehicle provided by the present disclosure is first described with reference to fig. 1, please refer to fig. 1, where fig. 1 is a schematic structural diagram of the vehicle provided by the embodiment of the present disclosure, and the vehicle 100 may be configured in an automatic driving mode. For example, the vehicle 100 may control itself while in the autonomous driving mode, and may determine the current state of the vehicle and its surroundings by human operation, determine whether there is an obstacle in the surroundings, and control the vehicle 100 based on information of the obstacle. The vehicle 100 may also be placed into operation without human interaction while the vehicle 100 is in the autonomous driving mode.

The vehicle 100 may include various subsystems such as a travel system 102, a sensor system 104, a control system 106, one or more peripherals 108, as well as a power supply 110, a computer system 112, and a user interface 116. Alternatively, vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the sub-systems and components of the vehicle 100 may be interconnected by wire or wirelessly.

The travel system 102 may include components that provide powered motion to the vehicle 100. In one embodiment, the travel system 102 may include an engine 118, an energy source 119, a transmission 120, and wheels/tires 121.

The engine 118 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine composed of a gasoline engine and an electric motor, and a hybrid engine composed of an internal combustion engine and an air compression engine. The engine 118 converts the energy source 119 into mechanical energy. Examples of energy sources 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source 119 may also provide energy to other systems of the vehicle 100. The transmission 120 may transmit mechanical power from the engine 118 to the wheels 121. The transmission 120 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 120 may also include other devices, such as a clutch. Wherein the drive shaft may comprise one or more shafts that may be coupled to one or more wheels 121.

The sensor system 104 may include a number of sensors that sense information about the environment surrounding the vehicle 100. For example, the sensor system 104 may include a positioning system 122 (which may be a global positioning GPS system, a compass system, or other positioning system), an Inertial Measurement Unit (IMU) 124, a radar 126, a laser range finder 128, and a camera 130. The sensor system 104 may also include sensors of internal systems of the monitored vehicle 100 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). The sensing data from one or more of these sensors can be used to detect the object and its corresponding characteristics (position, shape, orientation, velocity, etc.). Such detection and identification is a critical function of the safe operation of the autonomous vehicle 100. The sensor mentioned in the following embodiments of the present application may be a radar 126, a laser range finder 128, a camera 130, or the like.

The positioning system 122 may be used, among other things, to estimate the geographic location of the vehicle 100. The IMU 124 is used to sense position and orientation changes of the vehicle 100 based on inertial acceleration. In one embodiment, IMU 124 may be a combination of an accelerometer and a gyroscope. The radar 126 may utilize radio signals to sense objects within the surrounding environment of the vehicle 100, which may be embodied as millimeter wave radar or lidar. In some embodiments, in addition to sensing objects, radar 126 may also be used to sense the speed and/or heading of an object. The laser rangefinder 128 may use laser light to sense objects in the environment in which the vehicle 100 is located. In some embodiments, the laser rangefinder 128 may include one or more laser sources, laser scanners, and one or more detectors, among other system components. The camera 130 may be used to capture multiple images of the surrounding environment of the vehicle 100. The camera 130 may be a still camera or a video camera.

The control system 106 is for controlling the operation of the vehicle 100 and its components. The control system 106 may include various components including a steering system 132, a throttle 134, a braking unit 136, a computer vision system 140, a line control system 142, and an obstacle avoidance system 144.

Wherein the steering system 132 is operable to adjust the heading of the vehicle 100. For example, in one embodiment, a steering wheel system. The throttle 134 is used to control the operating speed of the engine 118 and thus the speed of the vehicle 100. The brake unit 136 is used to control the deceleration of the vehicle 100. The brake unit 136 may use friction to slow the wheel 121. In other embodiments, the brake unit 136 may convert the kinetic energy of the wheel 121 into an electric current. The brake unit 136 may take other forms to slow the rotational speed of the wheels 121 to control the speed of the vehicle 100. The computer vision system 140 may be operable to process and analyze images captured by the camera 130 to identify objects and/or features in the environment surrounding the vehicle 100. The objects and/or features may include traffic signals, road boundaries, and obstacles. The computer vision system 140 may use object recognition algorithms, Structure From Motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 140 may be used to map an environment, track objects, estimate the speed of objects, and so forth. The route control system 142 is used to determine a travel route and a travel speed of the vehicle 100. In some embodiments, the route control system 142 may include a lateral planning module 1421 and a longitudinal planning module 1422, the lateral planning module 1421 and the longitudinal planning module 1422 being used to determine a travel route and a travel speed for the vehicle 100 in conjunction with data from the obstacle avoidance system 144, the GPS 122, and one or more predetermined maps, respectively. Obstacle avoidance system 144 is used to identify, evaluate, and avoid or otherwise negotiate obstacles in the environment of vehicle 100 that may be embodied as actual obstacles and virtual moving objects that may collide with vehicle 100. In one example, the control system 106 may additionally or alternatively include components other than those shown and described. Or may reduce some of the components shown above.

Vehicle 100 interacts with external sensors, other vehicles, other computer systems, or users through peripherals 108. The peripheral devices 108 may include a wireless data transmission system 146, an in-vehicle computer 148, a microphone 150, and/or a speaker 152. In some embodiments, the peripheral devices 108 provide a means for a user of the vehicle 100 to interact with the user interface 116. For example, the onboard computer 148 may provide information to a user of the vehicle 100. The user interface 116 may also operate the in-vehicle computer 148 to receive user input. The in-vehicle computer 148 may be operated via a touch screen. In other cases, the peripheral devices 108 may provide a means for the vehicle 100 to communicate with other devices located within the vehicle. For example, the microphone 150 may receive audio (e.g., voice commands or other audio input) from a user of the vehicle 100. Similarly, the speaker 152 may output audio to a user of the vehicle 100. The wireless data transmission system 146 may communicate wirelessly with one or more devices, either directly or via a communication network. For example, the wireless data transmission system 146 may use 3G cellular communications, such as CDMA, EVDO, GSM/GPRS, or 4G cellular communications, such as LTE. Or 5G cellular communication. The wireless data transmission system 146 may communicate using a Wireless Local Area Network (WLAN). In some embodiments, the wireless data transmission system 146 may utilize an infrared link, bluetooth, or ZigBee to communicate directly with the device. Other wireless protocols, such as various vehicle data transmission systems, for example, wireless data transmission system 146 may include one or more Dedicated Short Range Communications (DSRC) devices that may include public and/or private data communications between vehicles and/or roadside stations.

The power supply 110 may provide power to various components of the vehicle 100. In one embodiment, power source 110 may be a rechargeable lithium ion or lead acid battery. One or more battery packs of such batteries may be configured as a power source to provide power to various components of the vehicle 100. In some embodiments, the power source 110 and the energy source 119 may be implemented together, such as in some all-electric vehicles.

Some or all of the functionality of the vehicle 100 is controlled by the computer system 112. The computer system 112 may include at least one processor 113, the processor 113 executing instructions 115 stored in a non-transitory computer readable medium, such as the memory 114. The computer system 112 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner. The processor 113 may be any conventional processor, such as a commercially available Central Processing Unit (CPU). Alternatively, the processor 113 may be a dedicated device such as an Application Specific Integrated Circuit (ASIC) or other hardware-based processor. Although fig. 1 functionally illustrates a processor, memory, and other components of the computer system 112 in the same block, those skilled in the art will appreciate that the processor, or memory, may actually comprise multiple processors, or memories, that are not stored within the same physical housing. For example, the memory 114 may be a hard drive or other storage medium located in a different enclosure than the computer system 112. Thus, references to processor 113 or memory 114 are to be understood as including references to a collection of processors or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only computations related to the component-specific functions.

In various aspects described herein, the processor 113 may be located remotely from the vehicle 100 and in wireless communication with the vehicle 100. In other aspects, some of the processes described herein are executed on a processor 113 disposed within the vehicle 100 while others are executed by the remote processor 113, including taking the steps necessary to execute a single maneuver.

In some embodiments, the memory 114 may include instructions 115 (e.g., program logic), and the instructions 115 may be executed by the processor 113 to perform various functions of the vehicle 100, including those described above. The memory 114 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the travel system 102, the sensor system 104, the control system 106, and the peripheral devices 108. In addition to instructions 115, memory 114 may also store data such as road maps, route information, the location, direction, speed of the vehicle, and other such vehicle data, among other information. Such information may be used by the vehicle 100 and the computer system 112 during operation of the vehicle 100 in autonomous, semi-autonomous, and/or manual modes. A user interface 116 for providing information to and receiving information from a user of the vehicle 100. Optionally, the user interface 116 may include one or more input/output devices within the collection of peripheral devices 108, such as a wireless data transmission system 146, an in-vehicle computer 148, a microphone 150, or a speaker 152, among others.

The computer system 112 may control the functions of the vehicle 100 based on inputs received from various subsystems (e.g., the travel system 102, the sensor system 104, and the control system 106) and from the user interface 116. For example, the computer system 112 may communicate with other systems or components within the vehicle 100 using a can bus, such as the computer system 112 may utilize input from the control system 106 to control the steering system 132 to avoid obstacles detected by the sensor system 104 and the obstacle avoidance system 144. In some embodiments, the computer system 112 is operable to provide control over many aspects of the vehicle 100 and its subsystems.

Alternatively, one or more of these components described above may be mounted or associated separately from the vehicle 100. For example, the memory 114 may exist partially or completely separate from the vehicle 100. The above components may be communicatively coupled together in a wired and/or wireless manner.

Optionally, the above components are only an example, in an actual application, components in the above modules may be added or deleted according to an actual need, and fig. 1 should not be construed as limiting the embodiment of the present application. The data transmission method provided by the present application may be executed by the computer system 112, the radar 126, the laser range finder 130, or a peripheral device, such as the vehicle-mounted computer 148 or other vehicle-mounted terminals. For example, the data transmission method provided by the present application may be executed by the on-board computer 148, the on-board computer 148 may plan a driving path and a corresponding speed curve for the vehicle, generate a control command according to the driving path, send the control command to the computer system 112, and control the steering system 132, the accelerator 134, the braking unit 136, the computer vision system 140, the route control system 142, or the obstacle avoidance system 144, etc. in the control system 106 of the vehicle by the computer system 112, thereby implementing automatic driving of the vehicle.

The vehicle 100 may be a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a lawn mower, an amusement car, a playground vehicle, construction equipment, a trolley, a golf cart, a train, a trolley, etc., and the embodiment of the present invention is not particularly limited.

The application also provides a data transmission system. The data transmission system may include a control device and at least one VIU. For example, as shown in fig. 2, the vehicle may be configured with a Central Computing Architecture (CCA) platform, the vehicle may include one or more VIUs, the one or more VIUs coupled to a control device, which may be included within the vehicle or disposed outside of the vehicle. The control device may establish a communication connection with the one or more VIUs, and the one or more VIUs and the control device access the same multicast group. A multicast group is a network formed by a plurality of nodes, and in this embodiment, the node may include a VIU or a control device. For example, 3 vus may form a multicast group, and the tablet may access the multicast group, and then the multicast group includes 3 vus and tablets. It should be understood that the 4 VIUs shown in fig. 2 (VIU1, VIU2, VIU3, and VIU4), and the 4 VIUs shown in the following examples of the present application, are merely exemplary, and that more or fewer VIUs may be included in a vehicle, and the present application is not limited thereto.

It should be understood that the one or more VIUs are included within the vehicle interior. For example, the VIU may monitor or control all or some of the modules or devices in the control system 106, travel system 102, sensor system 104, etc., as described above.

The VIU within the vehicle may be comprised of one or more components (e.g., all or a portion of the travel system 102, all or a portion of the control system, or one or more components of the sensor system, or a separate component, as previously described, etc.). The VIU can be used for monitoring the state of the VIU, or monitoring the state of a sensor or other components connected with the VIU, or acquiring information collected by components contained in the VIU or components connected with the VIU, and the like. For example, the vehicle may be divided into a plurality of domains according to an internal hardware structure of the vehicle, a plurality of VIUs may be configured for the vehicle, each domain may correspond to one VIU, and each VIU is used to monitor a state of the VIU itself, or collect information of hardware in the domain under management thereof, and the like.

The VIU and the control equipment in the vehicle are both accessed to the same multicast group, and data transmission is completed through the multicast group. The VIU or the control device may be a node in the multicast group, and a node accessing the multicast group may acquire data sent by other nodes by monitoring a port of the multicast group, or may send data to other nodes in the multicast group by monitoring a port of the multicast group. The network topology formed by the nodes in the multicast group may include a tree topology, a ring topology, a linear topology, or the like, and may be specifically adjusted according to an actual application scenario.

The control device and one or more VIUs may be connected via a wired communication network or a wireless communication network. Illustratively, the wired communication network may include, but is not limited to: optical Transport Network (OTN), Synchronous Digital Hierarchy (SDH), Passive Optical Network (PON), Ethernet (Ethernet), or flexible Ethernet (FlexE). The wireless network includes but is not limited to: a fifth Generation mobile communication technology (5th-Generation, 5G) system, a Long Term Evolution (LTE) system, a global system for mobile communication (GSM) or Code Division Multiple Access (CDMA) network, a Wideband Code Division Multiple Access (WCDMA) network, wireless fidelity (WiFi), bluetooth (bluetooth), Zigbee protocol (Zigbee), Radio Frequency Identification (RFID), Long Range (Long Range ) wireless communication, Near Field Communication (NFC), or a combination of any one or more of these. The Ethernet mentioned in the following embodiments of the present application may specifically include the Ethernet (Ethernet) or FlexE. Therefore, in the vehicle provided by the application, the VIU can establish connection through a wired communication network or a wireless communication network, so that the rapid transmission of the data monitored by the VIU is realized. Compared with CAN bus transmission data, the vehicle provided by the application CAN greatly improve the data transmission efficiency and realize the instant snapshot of the whole vehicle or a single system of the vehicle.

The control device may be included inside the vehicle, or may be an external device connected to the vehicle. For example, the control device may include a multi-domain controller (MDC) inside the vehicle, a smart Cockpit Domain Controller (CDC), an Electronic Control Unit (ECU), and the like, and may also include a terminal or a server connected to the VIU, such as a smart mobile phone, a television, a tablet computer, a bracelet, a Head Mounted Display (HMD), an Augmented Reality (AR) device, a Mixed Reality (MR) device, a cellular phone (cellular phone), a smart phone (smart phone), a Personal Digital Assistant (PDA), a tablet computer, a vehicle-mounted terminal, a laptop computer (laptop computer), a Personal Computer (PC), and the like.

The VIUs in the vehicle can be deployed according to actual requirements, the vehicle can be divided into one or more domains based on the number of the VIUs, and one VIU corresponds to one domain. Each VIU is responsible for controlling equipment access of a corresponding domain, performing data acquisition on a sensor or monitoring an execution component in the domain, and meanwhile, controlling the chip state of the VIU, such as core voltage or core temperature.

For example, some possible vehicle configurations provided herein are illustrated for ease of understanding.

For example, referring to fig. 3A, the VIU1, the VIU2, the VIU3, and the VIU4 may constitute a multicast group, and a network structure corresponding to the multicast group may be a ring structure. Various types of terminals (e.g., terminal 1-terminal n shown in fig. 3A) may access the multicast group through the wireless network. For example, the terminal may access a router or a switch, etc. through a wireless network, and the router or the switch may access the multicast group through a wired network. Specifically, for example, the wireless router may provide wireless access modes such as WIFI, 4G, or 5G, and a wireless communication channel between the VIU and the outside is established, and a wireless network provided by the access router may be used, for example, for a handheld wireless terminal such as a PC, a tablet computer, or a mobile phone, and the like, so as to access the multicast group where the VIU in the vehicle is located.

In general, a load balance switch (LSW) is provided in the VIU, and the VIU may communicate through the LSW, such as receiving instructions or data, or sending instructions or data.

For another example, referring to fig. 3B, the VIU1, the VIU2, the VIU3, and the VIU4 may form a multicast group, and the network structure corresponding to the multicast group may be a linear structure. The CDC is a device inside the vehicle and may be directly connected to the VIU1 through the Ethernet, or the CDC may be replaced by the CDC connected to the VIU1 through the Ethernet

VIU2, VIU3, or VIU4 are directly connected. In addition, the PC may also establish a connection with the VIU via the ethernet to access the multicast group. The tablet computer can establish connection with the VIU through WiFi or Bluetooth and the like, so that the multicast group can be accessed. The CDC, the PC and the tablet computer may receive the multicast message sent by the VIU1, the VIU2, the VIU3 or the VIU4 by monitoring the port of the multicast group, thereby extracting the information monitored by the VIU according to the received multicast message, or send a control instruction or data to the VIU1, the VIU2, the VIU3 or the VIU4 by the multicast group.

For another example, referring to fig. 4, taking a specific vehicle 401 as an example, four vus, that is, VIU1, VIU2, VIU3 and VIU4, are arranged inside the vehicle, and each VIU may monitor a sensor connected thereto, an I/O interface inside the sensor, or a state of the VIU, and generate a multicast packet according to the monitored information, and transmit the multicast packet to a multicast group. After the tablet computer is accessed to the multicast group, the port of the multicast group can be monitored, so that the information monitored by the VIU can be acquired.

The foregoing describes a vehicle provided in the present application, and a data transmission method provided in the present application is described below based on the vehicle provided in fig. 1 to 4.

Referring to fig. 5, a flow chart of a data transmission method provided by the present application is shown as follows.

501. The first VIU obtains the monitored information.

The data transmission method provided by the application can be applied to a vehicle, the vehicle can comprise at least one VIU, and the first VIU can be any one of the at least one VIU.

The information monitored by the first VIU may include status information of the first VIU itself, information of a device connected to the first VIU, or information of a device included in the first VIU, etc.

Specifically, the information monitored by the first VIU includes one or more of: status information of the first VIU, information of an I/O interface of the first VIU, raw sampling values of an analog-to-digital conversion ADC in the first VIU, information collected by a sensor monitored by the first VIU, or other control or input information of the first VIU, and the like.

For example, the state information of the first VIU itself may include an operating state of the first VIU, a core voltage, a chip core temperature, and the like. The information of the I/O interface may include status information of an I/O channel set in the first VIU, such as whether the value is 1. The exchange of the first VIU transfers control or monitoring information of the chip, the power chip, and the like. The information collected by the sensor may include information collected by a sensor in or connected to the first VIU, such as an RGB sensor (or referred to as a camera), a radar, a laser range finder, and the like, and accordingly, the information collected by the sensor may include information such as an image, an electromagnetic echo point cloud, or a laser point cloud.

502. The control device receives the multicast message transmitted to the multicast group by the first VIU through monitoring the multicast group.

After the first VIU obtains the monitored information, data encapsulation is carried out through a preset protocol, and one or more frames of multicast messages are obtained. And then the first VIU transmits the one or more frames of multicast messages to the multicast group. After acquiring the address of the multicast group, the control device receives one or more frames of multicast messages transmitted by the VIU in the multicast group by monitoring the port of the multicast group.

Step 502 is described in detail below.

Firstly, after acquiring the monitored information, the first VIU performs data encapsulation through a preset protocol to obtain one or more frames of multicast messages. The predetermined protocol may include, but is not limited to: user Datagram Protocol (UDP), Transmission Control Protocol (TCP), or automotive real-time data protocol (ARTDP).

For example, as shown in table 1, the multicast message may include various information monitored by the first VIU.

TABLE 1

The information identifier area may include information such as a data type of the multicast packet, a multicast group address, a multicast port, an identifier or an address of the first VIU, and the like.

The system information area may include status information of the first VIU, such as operating status, core voltage, or chip core temperature.

The I/0 status information area may include status information of an I/O interface inside or connected to the first VIU, such as a switch status of one of the I/O interfaces.

The ADC sampling information area may include a raw sampling value of the ADC at a certain time or a certain period.

The Pulse Width Modulation (PWM) and control output region may include a modulation method of information collected by the first vu or control information for other devices.

The exchange chip information area may include status information or input/output information of the exchange chip, etc. For example, the exchange chip information area may include a core temperature of the exchange chip (e.g., LSW), a core voltage, or output information of the exchange chip, etc.

The power management information area may include information such as a power chip or usage of power. For example, the information may include an operating state of the power chip, a core voltage, a core temperature of the chip, or a remaining amount of power, an input power amount, or an output power amount.

The other function information area may include status information or collected information of other devices connected to the first VIU. Such as state information of RGB sensors connected to the first VIU or captured image information.

The intermediate variable monitoring zone may include an intermediate value of a change in state of the first VIU over a period of time, an intermediate value of a change in state of a device included in or connected to the first VIU over a period of time, or the like. For example, if the first VIU is connected to an accelerator pedal, the intermediate variable may include an amount of change in the opening of the accelerator pedal over a certain period of time.

Generally, if the information acquired by the first VIU does not exceed a certain amount, the information acquired by the first VIU may be encapsulated in a frame of message, so that the control device may quickly acquire the information acquired by the first VIU.

Secondly, the multicast group may correspond to one or more ports, and when a plurality of vus are provided in the vehicle, each vu may transmit the multicast packet using a different port, and of course, each vu may also transmit the multicast packet using the same port. For example, the first VIU may transmit a multicast packet using port 4000, and the control device may listen to port 4000 of the multicast group, thereby receiving the multicast packet transmitted by the first VIU. The control device may then parse the multicast packet according to a pre-agreed format.

In one possible implementation, if the vehicle includes multiple VIUs, time synchronization may be performed between the multiple VIUs. For example, each of the VIUs may include a load balance switch (LSW), the VIUs may communicate with each other through the LSW, synchronize with each other through a preset time synchronization mechanism, and send a multicast packet on a time axis after the time synchronization, and each of the VIUs may send the multicast packet at the same time.

For example, if ethernet connection is established between multiple VIUs, time synchronization may be performed through an ethernet time synchronization mechanism, and then the multicast packet is sent on the time axis after the ethernet time synchronization mechanism is performed. The time when each VIU sends the multicast message can be the same, so that instant snapshot of the vehicle can be completed quickly, the multicast equipment can simultaneously obtain the multicast messages sent by a plurality of VIUs of the vehicle, the whole vehicle snapshot of the vehicle can be accurately and quickly obtained, and subsequent analysis or control and the like can be carried out on the vehicle.

In a possible implementation manner, the vu may periodically send a multicast message, so that the control device may periodically receive a multicast file sent by the vu, and implement real-time monitoring of the vehicle state by the control device, or adjust control of the vehicle, and the like.

In a possible implementation manner, before step 502, the method may further include: the control device joins the multicast group. Specifically, the control device may send a join request to the vu in the vehicle to request to join the multicast group, and after receiving the join request, if the vu allows the control device to join the multicast group, the control device may send a multicast address for the join request, so that the control device joins the multicast group according to the multicast address, thereby monitoring a port of the multicast group and receiving a multicast packet transmitted in the multicast group. Further, the control device may analyze the state of the vehicle, control the vehicle, or the like.

503. The control device analyzes the state of the vehicle through at least one frame of the multicast message.

After receiving the at least one frame of multicast message sent by the at least one VIU, the control device may analyze the state of the vehicle based on the at least one frame of multicast message.

For example, if the multicast packet includes the status information of the VIU, the control device may analyze the status change of the VIU according to the multicast packet received within a period of time. For another example, if the multicast message includes the opening degree of the brake pedal of the vehicle, the control device may analyze the state of the brake system of the vehicle according to the multicast message received within a period of time.

Therefore, in the method provided by the present application, one or more VIUs of the vehicle may establish a communication connection, and may establish a multicast group, so as to transmit a multicast packet in the multicast group, and complete transmission of the snapshot of the vehicle. The snapshot transmission of the vehicle is quickly realized through high-speed and efficient transmission of communication networks such as an Ethernet or a wireless network. The control equipment can rapidly receive the multicast message sent by the VIU by monitoring the multicast group, so that the state of the vehicle is analyzed through the received one-frame or multi-frame multicast message, and the efficiency of the control equipment for receiving the information monitored by the VIU is improved. In addition, the cost of constructing a lower control and monitoring system is low, all data collection and processing can be completed without special hardware, flexible deployment is realized, wired and wireless connection can be realized, and the system is suitable for controlling and monitoring the whole vehicle or part of functional units under different application scenes.

It can be understood that the data transmission method applied to the vehicle can realize the non-logical transient control of the whole vehicle or a single VIU of the vehicle at the same time, namely the vehicle is not required to be controlled by relying on fixed control logic. Also, the control device provided by the present application may be more efficiently, more simply and less cost effectively disposed in or connected to a vehicle than a monitoring tool of a CAN bus. In addition, the development efficiency of the electronic and electric architecture of the whole automobile is greatly improved, and the hardware monitoring and self-checking method is improved. The method changes the traditional automobile field that only partial output and input points can be monitored at the same time. And the application scene under the whole vehicle electronic and electric framework is expanded.

In a possible implementation manner, the control device may generate an analysis image according to information included in the received multi-frame multicast message, and display the analysis image through the display device. The analysis image may include a change in the state of the vehicle over time. For example, a curve of the opening degree of a brake pedal of the vehicle with time may be generated and displayed on the display screen. For another example, a curve of the core voltage or chip core temperature of the first VIU over time may be generated and displayed. Also for example, a square wave plot of the state of the I/O interface of the first VIU over time may be generated and displayed.

Therefore, in the embodiment of the present application, if the multicast message carries the intermediate variable of the vehicle state change, the image of the vehicle state changing with time is generated and displayed, so that the vehicle state change can be visually represented, and the user can know the vehicle state in real time according to the image. Alternatively, the control apparatus is made possible to control the vehicle more accurately in accordance with a change in the state of the vehicle.

In one possible implementation, the method provided by the present application may further include: the control device sends control instructions to at least one VIU within the multicast group, which may be used to control one or more of the I/O interfaces, sensors, or actuators of the at least one VIU. Taking the first VIU as an example, after receiving the control command, the first VIU may control one or more of an I/O interface, a sensor, or an actuator, which may include a brake unit, a steering system, or an engine of the vehicle, according to the control command in response to the control command. For example, the control commands may simply turn certain I/O interfaces on or off, turn certain sensors on or off, or indicate vehicle braking, etc.

For example, if the multicast message includes information collected by a sensor connected to the VIU, including information of a surrounding environment of the vehicle, such as an image, a laser point cloud, or an electromagnetic echo power source, the control device may identify an obstacle in the surrounding environment of the vehicle, such as a vehicle, a pedestrian, or a traffic light, according to the information collected by the sensor, so as to plan a driving path of the vehicle according to the identified obstacle in the surrounding environment of the vehicle, so that the vehicle can travel more safely and stably, complete automatic driving of the vehicle, and improve user experience.

For another example, in one scenario, if the control device joins the multicast group through the wireless network, the control device may implement remote control on the vehicle, such as remotely controlling the vehicle to close a window, close a door, or retract a rearview mirror, so that the user may remotely control the vehicle, thereby improving user experience.

Therefore, in the embodiment of the application, the control device can control the vehicle, such as planning a driving path or remote control, through the received multicast message, so that the vehicle can run more safely and stably, and the user experience is improved.

The foregoing describes the flow of the data transmission method provided by the present application in detail, and a more specific application scenario is taken as an example to describe the data transmission method provided by the present application in more detail.

Referring to fig. 6, a flow chart of a data transmission method provided by the present application is shown as follows.

601. The control device sends a join request to the second VIU.

Among them, there may be multiple vus in the vehicle, with communication connections established between the multiple vus, such as ethernet connections, wireless connections, etc. The multiple VIUs access the same multicast group.

The control device may be a terminal, a PC, a server, or a control module such as a CDC or MDC inside a vehicle. The control device may send a join request to the VIU, here exemplified by the second VIU, requesting to join the multicast group. The join request may carry an identifier of the control device, an indication of joining the multicast group, and the like.

602. The second VIU replies to the multicast address.

And after receiving the joining request, the second VIU judges whether the control equipment is allowed to join the multicast group, and if so, replies to the multicast address.

Specifically, the second VIU may determine whether to allow the control device to join the multicast group in various ways.

For example, if the control device is a control module inside the vehicle, such as CDC, MDC, etc., the second VIU may determine that the control device is allowed to join the multicast group.

For another example, in the second mode, if the control device is an external device, such as a tablet PC, a PC, or a mobile terminal, the second VIU may query, from a preset list, whether the identifier of the control device is in a list that is allowed to be accessed, and if the identifier of the control device is in the list that is allowed to be accessed, reply the multicast address to the control device.

For example, the second VIU may directly display, via a display provided in the vehicle, that the control device requests to access the multicast group, and the user determines whether to allow the control device to join the multicast group, and if the user determines to allow the control device to join the multicast group, the second VIU may send the multicast address to the control device. Therefore, the user can determine whether to allow the control equipment to join the multicast group, so that the safety of the vehicle is improved, and the user experience is improved.

Optionally, after the second VIU determines that the control device is allowed to access the multicast group, the identifier of the control device may be added to a local list in which the control device accessing the multicast group is stored. So that it is possible to subsequently determine which devices access the multicast group based on the table, or to allow the control device to access the multicast group when the control device again requests to join the multicast group.

Of course, if the second VIU determines that the control device is not allowed to join the multicast group, it does not reply a message to the control device, or replies a reject message to the control device, etc., to reject the control device from accessing the multicast group. For example, if the identifier of the control device is not in the list of allowable access multicast groups, or the user determines to deny the control device access to the multicast group, the second vu may reply a message to the control device, or reply a denial message to the control device, etc., to deny the control device access to the multicast group.

After receiving the multicast address, the control device may join the multicast group based on the multicast address and the corresponding protocol, and monitor the port of the multicast group. For example, if the multicast group is established based on ethernet, the control device may access the multicast group according to the communication protocol of the corresponding ethernet and the multicast address, and may subsequently parse the received data according to the communication protocol.

For example, the control device may be a terminal, such as a tablet computer or a mobile terminal, based on an android system, and may run a customized VIU health monitoring Application (APP) on the android terminal. Through subscribing appointed multicast group in the APP, the multicast message sent by each VIU can be acquired, and through abundant data visual view display, the running state and key debugging information of the VIU are conveniently tracked, and the convenience of maintaining and testing the VIU is improved.

603. The first VIU and the second VIU perform time synchronization.

In order to avoid that the data transmission is not at the same time due to the asynchronous time of each VIU in the vehicle, the VIUs in the vehicle can perform time synchronization before transmitting the data, or perform time synchronization periodically.

Specifically, the first and second VIUs may send time synchronization messages to each other for time synchronization. For example, a first vu may periodically send a time synchronization message to a second vu for a period of time, where the synchronization message may carry a clock of the first vu, and the second vu may determine a link transmission delay by the clock carried by the periodic time synchronization message, thereby synchronizing the clocks to be consistent with the first vu.

For example, the first VIU may perform time synchronization through a generalized precision time protocol (gPTP) time synchronization mechanism, so that each VIU transmits data on a synchronized time axis.

Therefore, in the embodiment of the present application, the vus may perform time synchronization, for example, perform time synchronization based on a gPTP time synchronization mechanism, so as to transmit data based on a synchronized time axis, thereby implementing synchronous transmission of data of each vu. Avoiding system snapshot period dislocation caused by asynchronous data transmission without reference meaning

604. The first VIU and the second VIU obtain the monitored information.

The information obtained and monitored by the first and second VIUs may refer to the related description in step 501, and is not described herein again.

605. The control device receives multicast messages respectively transmitted by the first VIU and the second VIU in the multicast group by monitoring the multicast group.

The first VIU and the second VIU are time-synchronized, and the first VIU and the second VIU can send respective monitored information on a time axis after the time synchronization.

After accessing the multicast group, or after subscribing the multicast group, the control device monitors each port of the multicast group, thereby receiving multicast messages transmitted by the first VIU and the second VIU in the multicast group respectively.

For example, after the vu acquires the monitored information, the monitored information may be loaded in a frame of message, and then periodically sent to the designated port in a preset format through the LSW according to the clock beat of the current system. Then, the two-layer switching protocol of the switch is utilized to quickly copy and send the message, and the forwarding is completed within the forwarding delay (such as 5us-10us) of one switching node, so as to realize the quick sending of the multicast message. The control equipment can accurately record the global state information of the vehicle according to the current clock beat, and displays the state of the vehicle in the modes of analyzing the state of the vehicle, drawing a curve or a dynamic graph and the like through the received multicast message so as to meet the data analysis requirements under different scenes. Such as video, machine learning, target tracking under radar system, and the like.

The steps performed by the VIU side and the control device side, respectively, are exemplarily described below.

First, an exemplary description of the steps performed by the VIU side is as follows.

Each VIU may monitor the status of multiple devices, such as multiple sensors, multiple actuators of a vehicle, or collected data, and when multiple types of data are collected by the VIU, the multiple types of data may be loaded in the same frame multicast message to improve transmission efficiency.

For example, the VIU may encapsulate and transmit the message via the ARTDP protocol. The length of the information included in each multicast packet may specifically be as shown in table 2,

TABLE 2

The ARTDP protocol header is used for distinguishing VIU source nodes and other necessary node position information.

The MCU information may include actual control quantity or state information of the MCU chip, etc.

The network information may include communication status, connection mode, transmission statistics, or network detection information of the VIU for the communication connection.

The auxiliary chip state information may include state information of chips that can acquire information, such as a power management chip, a chip driver chip, an expansion chip, or an MCU, for example, current, temperature, voltage, or input/output information.

Generally, in order to ensure that the information collected by the VIU is sent in the same frame, 20+ N + M + K + X + Y <1472(bytes), so as to avoid the information collected by the VIU being split into multiple frames, thereby completing efficient transmission of multicast messages.

The vu then sends multicast messages periodically in the multicast group, e.g., once every 1 second.

Therefore, in the embodiment of the application, the multicast message can be efficiently and accurately transmitted through the multicast group, and the instantaneous snapshot of the vehicle is realized. And a plurality of links and a connection completion queue are not required to be established for sending, so that instant snapshots of the whole system cannot be completed by sending data.

It can be understood that, taking the VIU as a publisher and the control device as a subscriber, as shown in fig. 7, the publisher may send Protocol Data (PD) to the multicast group in a manner defined by a Protocol Data Unit (PDU), and the subscriber may monitor each port of the multicast group to obtain the PD published by each VIU.

Next, an exemplary description of the steps performed on the control apparatus side is as follows.

After accessing the multicast group, or after subscribing the multicast group, the control device monitors each port of the multicast group to receive the multicast packet sent by the VIU.

After receiving the multicast message, the control device may analyze the multicast message according to a preset protocol to obtain information monitored by each VIU.

Generally, the VIU may periodically send multicast messages, and accordingly, the control device may also periodically receive multicast messages sent by the VIU.

Optionally, when the control device does not receive the multicast packet sent by a certain vu for N consecutive periods, the control device may check whether the connection with the vu is interrupted, or display a prompt message to prompt the vu that there is no communication connection, communication failure, or vu failure.

For example, taking a control device as a terminal loaded with an android system as an example, a VIU health monitoring APP is installed in the terminal, a VIU communication monitoring processing module is started in the APP, communication check is performed according to a communication cycle defined by a Protocol Data Unit (PDU), background service is started in the APP, a specified multicast group is subscribed through a UDP multicast client, a specified local port is monitored, a required UDP multicast packet is acquired, and a PDU ID is analyzed through a user-defined UDP packet decoder. And when the APP background service acquires the UDP multicast message, updating the state of the processing module according to the PDU ID. If the multicast message sent by a certain VIU is not received continuously over a set period (such as 5 periods), the VIU is diagnosed to be overtime and disconnected, and the APP foreground is notified to be active through a callback interface, for example, a certain VIU is displayed to be disconnected or faulted. A data bus used for transmitting UDP messages can be defined in the APP by self, and after the APP background service acquires the UDP multicast messages, the messages are packaged and issued to the bus. And the APP foreground activity acquires the UDP message through the registration monitor on the bus. When the APP background service acquires the UDP multicast message, the data is analyzed through a UDP message decoder, and the APP foreground is informed of the activity through a callback interface, such as updating the state information of the VIU.

For another example, taking the control device as a terminal equipped with an android system as an example, a decoder class written in the vu health monitoring APP, such as a UDP message decoder class, is installed in the terminal, and an example of the class can be obtained by transmitting a UDP message (i.e., a multicast message), so as to analyze the DUP message.

Generally, each vu may upload data according to its own local clock, a clock difference may exist between multiple vus, the control device may receive all data through monitoring a designated port of the multicast group, and perform beat synchronization according to packet frame count in a protocol field, or perform same-cycle analysis on the received data according to a generalized precision clock protocol (gPTP) time synchronization mechanism, thereby acquiring information monitored by each vu of a vehicle at the same time, and avoiding situations such as data inaccuracy or data invalidation due to cycle misalignment.

606. The control device analyzes the state of the vehicle through at least one frame of the multicast message.

After the control device receives the at least one frame of multicast message, the at least one frame of multicast message can be analyzed, so that the state of the vehicle can be analyzed through an analysis result, and the vehicle can be prompted or controlled according to the state of the vehicle.

For example, taking the multicast message as an example that the original sampling value of the ADC is included in the multicast message, after receiving the multicast message, the control device may calculate the actual value of each channel of the ADC according to a preset formula. For example, the predetermined formula may be a sampled value, a voltage division coefficient, or an ADC actual value. Therefore, the control device can analyze the change situation of the actual value of each channel of the ADC of the vehicle through the multicast message received by monitoring in the multicast group, and further know the conversion situation of the ADC of the vehicle.

Optionally, after analyzing the state of the vehicle through at least one frame of the multicast message, the control device may perform curve drawing according to the analysis result, that is, obtain the analysis image. Specifically, curve drawing can be completed according to a time axis based on state information such as an I/O interface or an ADC, and a dynamic graph is displayed to facilitate observation by a user.

When the curve is drawn, the intermediate values of the variables of some hardware monitored by the VIU can be referred, so that the change state of the vehicle can be analyzed more accurately. For example, the initial value, the intermediate value and the final value of the opening degree of the accelerator pedal changing within a period of time can be included in a multicast message, the control device analyzes the initial value, the intermediate value and the final value of the opening degree of the accelerator pedal changing within a period of time through the multicast message, and a curve is drawn according to the initial value, the intermediate value and the final value of the opening degree of the accelerator pedal changing within a period of time, so that the change situation of the accelerator pedal within a period of time can be more intuitively reflected.

Optionally, when the multicast packet carries information collected by a sensor monitored by the VIU, such as a laser point cloud, an electromagnetic echo point cloud, an image, and the like, the control device may output pedestrian, vehicle, traffic light, or other environmental information monitored by the sensor according to a pre-trained perception model, and the control device may generate an environmental image according to the information output by the perception model, where the environmental image includes the pedestrian, vehicle, traffic light, or other environmental information monitored by the sensor, so that a user may observe an environment of the vehicle through the environmental image, thereby improving user experience.

Optionally, after receiving the multicast packet and obtaining the analysis result, the control device may locally store the analysis result according to a time axis, or store the multicast packet, so that the historical state of the vehicle may be analyzed based on historical data subsequently, thereby improving user experience.

For example, taking a control device as a terminal loaded with an android system as an example, a VIU health monitoring APP is installed in the terminal, an SQLite database is used in the APP to store data, and an VIU _ log table is established by taking a data item to be recorded as a column name. When the APP background service receives a UDP message, all data of the message are analyzed through a UDP message decoder, and after a timestamp is added, the data are written into an viu _ log table. Every half hour the data in the database one hour earlier than the current time is checked and cleaned.

Optionally, the control device may also calculate the bandwidth of the vehicle according to the number of received multicast messages. The control device can generate a prompt message according to the bandwidth use condition of the vehicle, and prompt the conditions that the bandwidth of the vehicle is sufficient or insufficient and the like. Or when the bandwidth utilization rate of the vehicle is greater than the bandwidth threshold, the user may be prompted to expand the bandwidth, or the VIU is notified to control the data transmission amount, so that the bandwidth utilization rate is reduced and the bandwidth is kept sufficient.

For example, a UDP packet decoder and a bandwidth calculator may be provided in the control device. And after the cumulative receiving and sending packet counts of all ports of the LSW chips of all the VIUs are obtained through a UDP message decoder, the data are transmitted into a bandwidth calculator. A first-in-first-out data queue is established in the bandwidth calculator for each port to hold all packet counts in one second. Each time new data enters the queue, the queue top data is pushed out and the difference between the new data and the queue top data is returned, the differenceThe value is the packet receiving (sending) count P of the port in 1 second_c. The downlink (uplink) bandwidth data of the port can be calculated through a bandwidth calculation formula. The bandwidth calculation formula may include: bandwidth ═ P_cR + Offset (bytes/s), bandwidth is bandwidth, R is the size coefficient of the multicast packet, which is a preset value, and Offset is a constant. When the bandwidth utilization rate reaches 95%, the control device may generate a prompt message to prompt the user to perform bandwidth expansion, or send a control instruction to the VIUs to control the data amount transmitted by each VIU, thereby reducing the bandwidth utilization rate.

It can be understood that, in the data transmission method applied to the vehicle provided in the present application, the global snapshot of the electronic system under the electronic/electronic (E/E) architecture of the vehicle is completed by using the global system instant snapshot of the ethernet technology. And each VIU carries out time synchronization to complete synchronous snapshot of each node in the same operation period, and the control equipment completes information acquisition of the whole system in the same period through a data synchronous distribution mechanism in the single-point-to-multiple multicast communication.

607. The control device sends control instructions to the first VIU and the second VIU respectively.

The control device analyzes the state of the vehicle through at least one frame of multicast message, and can send a control command to each VIU based on the state of the vehicle, so that each VIU is controlled through the control command, and the vehicle is controlled. Alternatively, the control device may send a control instruction to each of the VIUs based on an operation by a user, so that each of the VIUs is controlled by the control instruction, thereby controlling the vehicle.

In general, each vu may correspond to a module at a different location in the vehicle, for example, if the doors outside the main cockpit of the vehicle are controlled by the vu 1, the control device may carry the identification of the vu 1 in the control instructions, so that the doors outside the main cockpit are controlled to open or close by the vehicle. Or, if different VIUs transmit data at different ports in the multicast group, the control device may send the control instruction at a port corresponding to the VIU1, so that the VIU1 receives the control instruction and executes the control instruction, such as controlling the closing of a vehicle door, the closing of a vehicle window, and the like.

608. The first VIU and the second VIU execute control instructions.

After receiving the control instruction sent by the control equipment, the VIU analyzes and executes the control instruction.

Typically, each VIU may correspond to a module at a different location in the vehicle, and each VIU may receive messages transmitted within the multicast group. When a certain VIU receives a certain control instruction and carries a self identifier, the sending target of the control instruction can be determined to be the self. The VIU may parse the control command and execute the control command. For example, an I/O interface or a sensor connected thereto is turned on or off, or an actuator connected thereto is controlled, for example, an opening degree of an accelerator pedal, an opening degree of a brake pedal, or a rotation angle of a steering wheel is controlled.

For example, in some automatic driving scenarios, as shown in fig. 8, the control device may be a device such as an MCU of a vehicle or a vehicle-mounted terminal, and the control device may obtain data collected by a sensor of the vehicle, such as a laser range finder, a radar, or a camera, such as a laser point cloud, an electromagnetic echo point cloud, or an image, in a multicast packet, and output sensing information collected by the sensor through a preset sensing model. The control equipment can plan the driving path of the vehicle according to the sensing information and send control instructions to each VIU based on the driving path, so that the vehicle is controlled to drive according to the driving path through the VIU.

For another example, in some automatic parking scenarios (AVP), as shown in fig. 9, the control device may be a tablet computer or a handheld terminal, and the control device may access the multicast group through a communication network such as 4G, 5G, or wifi, and send a control instruction to each VIU of the vehicle, so as to control a steering system, an accelerator, or a brake unit of the vehicle, and enable the vehicle to drive into a parking space.

For another example, in some remote control scenarios, the control device may be a tablet computer or a handheld terminal, the control device may access a multicast group of the vehicle through a wireless network, the control device may include a display screen, and a state of the vehicle acquired based on the multicast message may be displayed on the display screen, such as an on/off state of an I/0 interface corresponding to a vehicle window, an on/off state of an I/0 interface corresponding to a vehicle door, and the like. The user can remotely send a control instruction to the multicast group through the control device, so that the operations of closing a vehicle door, closing a vehicle window or closing a rearview mirror and the like are controlled. For example, the control device may access the multicast group through a communication network such as 4G, 5G, or wifi, as shown in fig. 10A, if the vehicle door of the vehicle is not closed, the vehicle door that is not closed may be displayed in the terminal, and the user may select the vehicle door that needs to be closed in the display interface of the terminal, so as to close the vehicle door. The terminal can send a control instruction for closing the car door to the VIU in the multicast group through communication networks such as 4G, 5G or wifi, so that the corresponding VIU adjusts the opening and closing of the I/O interface corresponding to the car door, as shown in FIG. 10B, and the car door is remotely controlled to be opened and closed.

It can be understood that, in the data transmission method applied to the vehicle provided by the present application, after the control device accesses the multicast group, the monitoring information of the VIU is acquired, and a single I/O or a sensor in the VIU can be accurately controlled, so that more accurate control of the vehicle can be realized. In addition, in a scene that the control equipment is accessed to the multicast group through the wireless communication network, the remote control of the vehicle can be realized through the control equipment, the safety of the vehicle is improved, and the user experience is improved. It can be understood that, in the vehicle provided in the embodiment of the present application, by using a novel electronic entire vehicle electronic and electrical architecture and a communication technology (such as ethernet communication or wireless communication), a system monitoring and debugging function of an entire vehicle platform is established. A complete control logic diagram can be drawn through snapshot data, and various algorithms and software control logics in the vehicle are comprehensively output and monitored. The system can also be used as a detection tool to perform manual diagnosis or automatic diagnosis on input and output points and internal monitoring points of the whole vehicle equipment. The data can also be provided for upper-layer application as application basic data, and the collected data can be recorded and analyzed as historical data.

Therefore, in the embodiment of the application, the VIU and the control device can be connected through a wireless or wired communication network, so that the data transmission rate of the VIU is improved, and the instant snapshot of the whole vehicle or a certain system of the vehicle is efficiently and accurately completed. And the control device can monitor the multicast message transmitted by the VIU in the multicast group by adding the multicast group in which the VIU is positioned, and analyze the information carried by the multicast message, thereby analyzing the state of the vehicle according to the information carried by the multicast message.

The foregoing describes the vehicle and the data transmission method in detail, and the following describes a Graphical User Interface (GUI) in detail in combination with the vehicle and the data transmission method. For ease of understanding, the GUI provided in the present application is illustratively described below in connection with some display interfaces.

First, the present application provides a GUI, where a graphical user interface is stored on an electronic device.

The present application further provides an electronic device comprising a display screen, a memory, one or more processors for executing one or more computer programs stored in the memory, the display screen for displaying a graphical user interface stored in the memory.

The following describes a graphical user interface of the present application, which includes:

displaying a multicast address of a multicast group, wherein the multicast group comprises at least one VIU;

and responding to the confirmation operation aiming at the multicast address, receiving at least one frame of multicast message transmitted by at least one VIU in the multicast group, and displaying the information included in the at least one frame of multicast message.

Illustratively, as shown in fig. 11, the acquired address of the multicast group, that is, the IP address shown in fig. 11, may be displayed in a display screen, and optionally, the network topology type (e.g., ring network structure), the number of VIUs (for example, 4), or the port number (e.g., 4000) of the multicast group may also be displayed. When the user clicks the 'confirm' button, the user can send a joining request to any VIU according to the IP address to request to access the multicast group.

In a possible implementation manner, the graphical user interface specifically includes:

displaying one or more of status information of the at least one VIU, information of an I/O interface of the at least one VIU, raw sample values of an ADC in the at least one VIU, or information collected by a sensor monitored by the at least one VIU.

For example, after the terminal accesses the multicast group, the terminal may receive the multicast packet sent by the VIU by monitoring the port of the multicast group, and analyze the multicast packet, and the process of analyzing the multicast packet may refer to the related description in fig. 5 or fig. 6, which is not described herein again, and display information included in the multicast packet.

For example, as shown in fig. 12, if the multicast message carries information such as the MCU core temperature, the MCU core voltage, or the system operating state of each vu, the information such as the MCU core temperature, the MCU core voltage, or the system operating state of each vu may be displayed on the display screen. In the interface, the APP foreground activity acquires the VIU communication state and the UDP multicast message, and analyzes the message PDU ID, the VIU system state, the communication bandwidth or time delay and other information through a UDP message decoder. The interface shows a ring-network topology structure formed by 4 vus in the vehicle, and of course, if the vus are connected by other topologies, the interface can also show a corresponding topology structure, and the ring network topology structure is only exemplified here. Where each VIU is connected to a Port1 of an adjacent VIU through a Port0 of the LSW. Core data of the VIU, such as MCU core temperature, MCU core voltage or system running state of the VIU and other information can be displayed in each VIU module in real time. In addition, the node delay in the ring network may also be displayed in the interface, such as the delay value displayed in the upper right corner in fig. 12. In order to more intuitively display the connection state between the VIUs, when two adjacent VIUs are in normal communication, the pipeline between the VIUs in the display interface is opened, real-time data beside the pipeline represents negotiation bandwidth between the VIUs, the arrow direction represents the data transmission direction, and the LSW chip Port0 of each VIU can be represented by the color of the arrow (for example, green represents that the bandwidth occupation is less than 40%, yellow represents 40% -70%, red represents more than 70%, and the like). When the VIU communication is disconnected, the pipeline connected to the VIU cube is broken, and the arrow disappears. When the VIU communication is normal, clicking the VIU block can enter a VIU system function monitoring information detail page. Otherwise, the pop-up window prompts that the VIU equipment is not connected.

Generally, the amount of information acquired through at least one frame of multicast message is large, and in order to improve user experience, vehicle information can be classified and displayed, that is, the information acquired through at least one frame of multicast message is divided into multiple types. For example, the information acquired by the multicast packet may be classified based on hardware of the vehicle, and classified into information such as an Electronic Power Steering (EPS), bandwidth information of an LSW, values of respective channels of an ADC, an on/off state of an I/O interface, and a state of an Electronic Brake System (EBS). Of course, other classification methods may also be used, for example, classification may be performed according to the type of information, and the classification may be specifically adjusted according to the actual application scenario, which is not limited herein.

After the information collected by each VIU of the vehicle is obtained through at least one frame of multicast message, the change state of the information collected by each VIU of the vehicle can be displayed more intuitively in a curve drawing mode in response to the selection operation of a user on each classification information. For example, for the convenience of understanding, the GUI provided by the present application is exemplified below by taking modules such as system internal key data monitoring, single board I/O state monitoring, single board ADC monitoring, LSW chip monitoring, brake system monitoring, and steering system monitoring as examples.

As shown in fig. 13, the curve may be displayed on the display screen by plotting the status information of the vu over a period of time, such as the MCU internal temperature, the magnitude of voltage at different locations, etc., and responding to the user-selected operation of the status information of the vu.

As shown in fig. 14, taking one of the VIUs 0 as an example, the current status of 10 groups of I/O ports in the VIU0 may be displayed, each I/O port includes 16I/O interfaces, and the status of each I/O interface may be represented by 1 bit. For example, 1 indicates a high level, and 0 indicates a low level.

The change of state of the individual I/O ports in each group of I/O ports can be plotted in the form of a square wave, as shown in fig. 15. For example, taking the I/O port group 0 as an example, in response to an operation of selecting the I/O port group 0 by a user, a square wave corresponding to a change state of the I/O port in a period of time is displayed on the display screen.

As shown in fig. 16, the information corresponding to each group of ADCs (i.e., VADC group 0-VADC group 5 in fig. 16) may be displayed in the form of a list. In each group of ADC modules, the left column is a received ADC original sampling value, and the right column is a calculated ADC actual value.

As shown in fig. 17, LSW chip monitoring information may be displayed in a list form on a display screen, including negotiated bandwidths, link statuses, and error packet counts of 8 LSW chip ports (ports) obtained by using a UDP packet decoder, and upstream and downstream real-time bandwidths of 8 ports obtained by using a bandwidth calculation processor. As shown in fig. 18, curves corresponding to upstream and downstream bandwidths corresponding to modules of each Port can be plotted. Taking one of the ports 0 as an example, the change curve of the upstream bandwidth and the downstream bandwidth of the Port0 in a certain period of time can be displayed on the display screen.

As shown in fig. 19, the target pressure and the actual pressure on the brake pedal of the vehicle may be plotted over a certain period of time. Therefore, the difference between the set pressure and the actual pressure of the brake pedal of the vehicle can be compared, so that the corresponding algorithm of the brake pedal can be adjusted to make the difference between the target pressure and the actual pressure of the brake pedal smaller.

As shown in fig. 20, the target steered angle and the actual steered angle in the steering system of the vehicle may be plotted over a certain period of time. For example, in an automatic driving scenario, when a driving path is planned for a vehicle, a target corner may be planned for the vehicle, and an actual corner of the vehicle while traveling may be detected, so that the driving path of the vehicle may be planned more accurately subsequently according to a difference between the actual corner and the target corner.

In addition, the control device may store the received multicast message or data included in the multicast message, and may subsequently obtain the historical data of each VIU of the vehicle by reading the historical data, so that each module of the vehicle may be analyzed more accurately in the following, and thereby the change in the historical state of the vehicle, such as the baseline drift of the sensor, the sensitivity adjustment of the brake pedal, and the like, may be analyzed. For example, the display interface of the GUI may further include a history data module, and the history data module may read the history data from a local storage medium or a database and display the history data in response to an operation of selecting the history data module by a user.

Therefore, in the GUI provided by the present application, it is possible to perform fine monitoring of each of the VIUs of the vehicle, and to monitor the state of each input/output point and the instantaneous value of the designated intermediate variable in the current system. Meanwhile, the monitoring and intervention control of the intermediate state of each layer of the system function can be realized, the accuracy of the control of the vehicle is improved, and the user experience is improved.

The method, system and GUI provided by the present application are described in detail above, and the apparatus provided by the present application is described below based on the aforementioned fig. 1-20.

It should be understood that the VIU and the control device provided in the present application may be applied to a vehicle including at least one area integrated unit VIU, the VIU being any one of at least one VIU, the at least one VIU and the control device establishing a communication connection, the control device and the at least one VIU accessing a same multicast group. The control device may be included in a vehicle, or may be in communication connection with the vehicle, and may be specifically adjusted according to an actual application scenario, which is not limited herein.

The VIU and the control device provided by the present application for performing the steps performed by the VIU and the control device, respectively, in fig. 5 or fig. 6, respectively, are described below.

Please refer to fig. 21, which illustrates a schematic structural diagram of a VIU according to the present application.

The VIU may include:

a monitoring module 2101 configured to obtain monitored information;

the transceiver module 2102 is configured to transmit a multicast packet through a multicast group, where the multicast packet includes information detected by the first VIU, so that the control device obtains the multicast packet by monitoring the multicast group, and the multicast packet is used for the control device to analyze a state of the vehicle.

the transceiver module 2102 is specifically configured to transmit the multicast packet in the multicast group via an ethernet connection and/or a wireless connection.

In one possible embodiment, at least two VIUs are included in the vehicle, and before the first VIU transmits the multicast message to the multicast group, the VIU may further include: a synchronization module 2103, configured to perform time synchronization with at least two other vus except the vu;

the transceiver module 2102 is specifically configured to send the multicast packet according to the time axis after time synchronization.

In one possible embodiment, the information monitored by the monitoring module 2101 includes one or more of the following: the information of the VIU state, the information of the I/O interface of the VIU, the original sampling value of an analog-digital conversion ADC in the VIU or the information collected by a sensor monitored by the VIU.

In one possible implementation, before the transceiver 2102 transmits the multicast packet to the multicast group, the transceiver 2102 is further configured to: receiving a joining request sent by a control device, wherein the joining request is used for requesting to join a multicast group; and replying the multicast address according to the joining request so that the control equipment joins in the multicast group through the multicast address, monitors a port corresponding to the multicast address and receives the multicast message.

In one possible embodiment, the VIU may further include: a control module 2104; the receiving and sending module is also used for receiving a control instruction sent by the control equipment; a control module 2104 for controlling one or more of an I/O interface of the first VIU, a sensor, or an actuator of the vehicle in accordance with the control instructions.

Referring to fig. 22, a schematic structural diagram of a control device provided in the present application is shown.

The control apparatus includes:

the transceiver module 2201, which acquires the multicast address of the multicast group;

a monitoring module 2202, configured to monitor a port corresponding to the multicast address by the control device;

the transceiver module 2201 is further configured to obtain at least one frame of multicast packet through the port, where the multicast packet includes information monitored by at least one VIU;

the processing module 2203 is configured to analyze the state of the vehicle through at least one frame of the multicast message.

the transceiver module 2201 is specifically configured to receive, through an ethernet connection and/or a wireless connection, a multicast packet transmitted in a multicast group.

In a possible implementation manner, when the at least one multicast message includes information collected by at least one sensor monitored by the VIU, the processing module 2203 is further configured to plan the driving path of the vehicle according to the information collected by the at least one sensor monitored by the VIU.

In a possible implementation, the transceiver module 2201 is specifically configured to periodically receive, through the port, at least one frame of multicast packet transmitted to the multicast group by at least one VIU.

In a possible implementation, the transceiver module 2201 is further configured to: sending a joining request to a first VIU, wherein the joining request is used for requesting to join a multicast group, and the first VIU is any one of at least one VIU; and receiving the multicast address replied by the first VIU.

In one possible embodiment, the control device further comprises: a display module 2204;

after the control device analyzes the state of the vehicle through at least one frame of the multicast message, the processing module 2203 is further configured to generate an analysis image according to the change of the state of the vehicle over time;

a display module 2204 for displaying the analysis image.

In a possible embodiment, the transceiver module 2201 is further configured to send a control instruction to the at least one VIU, where the control instruction is used to control one or more of an I/O interface, a sensor, or an actuator of the at least one VIU.

Referring to fig. 23, another structural diagram of a VIU provided by the present application is as follows.

The VIU may include a processor 2301, a transceiver 2303, and a memory 2302. The processor 2301, transceiver 2303 and memory 2302 are interconnected by wires. Memory 2302 stores program instructions and data therein.

The memory 2302 stores program instructions and data corresponding to the steps in fig. 5-10B.

The processor 2301 is configured to perform the method steps performed by the VIU described above with respect to any of the embodiments of FIGS. 5-10B.

Optionally, the VIU may also include a transceiver 2303 for receiving or transmitting data.

Also provided in an embodiment of the present application is a computer-readable storage medium having stored therein a program for generating a running speed of a vehicle, which when running on a computer, causes the computer to execute the steps in the method as described in the foregoing embodiment shown in fig. 5-10B.

Alternatively, the VIU shown in FIG. 23 described above is a chip.

Referring to fig. 24, a schematic structural diagram of another control device provided in the present application is as follows.

The control device may include a processor 2401, a transceiver 2403, and a memory 2402. The processor 2401, transceiver 2403, and memory 2402 are interconnected by wires. Wherein program instructions and data are stored in memory 2402.

The memory 2402 stores program instructions and data corresponding to the steps of fig. 5-10B described above.

The processor 2401 is configured to perform the method steps performed by the control device shown in any one of the embodiments of fig. 5-10B.

Optionally, the control device may further comprise a transceiver 2403 for receiving or transmitting data.

Alternatively, the aforementioned control device shown in fig. 24 is a chip.

Embodiments of the present application further provide a VIU, which may also be referred to as a digital processing chip or chip, where the chip includes a processing unit and a communication interface, the processing unit obtains program instructions through the communication interface, and the program instructions are executed by the processing unit, and the processing unit is configured to execute the method steps executed by the VIU shown in any one of the foregoing embodiments in fig. 5-10B.

The present application further provides a control device, which may also be referred to as a digital processing chip or chip, where the chip includes a processing unit and a communication interface, the processing unit obtains program instructions through the communication interface, and the program instructions are executed by the processing unit, and the processing unit is configured to execute the method steps executed by the control device shown in any one of the foregoing embodiments in fig. 5-10B.

The embodiment of the application also provides a digital processing chip. The digital processing chip has integrated therein circuitry and one or more interfaces for implementing the processor 2301, or the functions of the processor 2301, as described above. When integrated with memory, the digital processing chip may perform the method steps of any one or more of the preceding embodiments. When the digital processing chip is not integrated with the memory, the digital processing chip can be connected with the external memory through the communication interface. The digital processing chip implements the actions performed by the VIU in the above embodiments according to program codes stored in an external memory.

The embodiment of the application also provides a digital processing chip. Integrated with circuitry and one or more interfaces to implement the processor 2401, or the functionality of the processor 2401, described above. When integrated with memory, the digital processing chip may perform the method steps of any one or more of the preceding embodiments. When the digital processing chip is not integrated with the memory, the digital processing chip can be connected with the external memory through the communication interface. The digital processing chip implements the actions performed by the control device in the above embodiments according to program codes stored in an external memory.

Embodiments of the present application also provide a computer program product, which when run on a computer, causes the computer to perform the steps performed by the VIU in the method described in the embodiments shown in fig. 5-10B.

The data transmission device provided by the embodiment of the application can be a chip, and the chip comprises: a processing unit, which may be for example a processor, and a communication unit, which may be for example an input/output interface, a pin or a circuit, etc. The processing unit may execute the computer-executable instructions stored in the storage unit to cause the chip in the server to perform the data transmission method described in the embodiment shown in fig. 5-10B. Optionally, the storage unit is a storage unit in the chip, such as a register, a cache, and the like, and the storage unit may also be a storage unit located outside the chip in the wireless access device, such as a read-only memory (ROM) or another type of static storage device that can store static information and instructions, a Random Access Memory (RAM), and the like.

Specifically, the aforementioned processing unit or processor may be a Central Processing Unit (CPU), a Network Processor (NPU), a Graphics Processing Unit (GPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices (programmable gate array), discrete gate or transistor logic devices (discrete hardware components), or the like. A general purpose processor may be a microprocessor or any conventional processor or the like.

Referring to fig. 25, fig. 25 is a schematic structural diagram of a chip according to an embodiment of the present disclosure, where the chip may be represented as a neural network processor NPU 250, and the NPU 250 is mounted on a main CPU (Host CPU) as a coprocessor, and the Host CPU allocates tasks. The core portion of the NPU is an arithmetic circuit 2503, and the controller 2504 controls the arithmetic circuit 2503 to extract matrix data in the memory and perform multiplication.

In some implementations, the arithmetic circuit 2503 internally includes a plurality of processing units (PEs). In some implementations, the operational circuit 2503 is a two-dimensional systolic array. The arithmetic circuit 2503 may also be a one-dimensional systolic array or other electronic circuit capable of performing mathematical operations such as multiplication and addition. In some implementations, the arithmetic circuitry 2503 is a general-purpose matrix processor.

For example, assume that there is an input matrix A, a weight matrix B, and an output matrix C. The arithmetic circuit fetches the data corresponding to the matrix B from the weight memory 2502 and buffers it in each PE in the arithmetic circuit. The arithmetic circuit takes the matrix a data from the input memory 2501 and performs matrix operation with the matrix B, and partial or final results of the obtained matrix are stored in an accumulator (accumulator) 2508.

The unified memory 2506 is used for storing input data and output data. The weight data directly passes through a Direct Memory Access Controller (DMAC) 2505, and the DMAC is transferred to a weight memory 2502. The input data is also carried into the unified memory 2506 via the DMAC.

A Bus Interface Unit (BIU) 2510 for interaction between the AXI bus and the DMAC and the Instruction Fetch Buffer (IFB) 2509.

A bus interface unit 2510 (BIU) for fetching instructions from the external memory by the instruction fetch memory 2509 and for fetching the original data of the input matrix a or the weight matrix B from the external memory by the storage unit access controller 2505.

The DMAC is mainly used to transfer input data in the external memory DDR to the unified memory 2506, or transfer weight data to the weight memory 2502, or transfer input data to the input memory 2501.

The vector calculation unit 2507 includes a plurality of operation processing units, and further processes the output of the operation circuit such as vector multiplication, vector addition, exponential operation, logarithmic operation, magnitude comparison, and the like, if necessary. The method is mainly used for non-convolution/full-connection layer network calculation in the neural network, such as batch normalization (batch normalization), pixel-level summation, up-sampling of a feature plane and the like.

In some implementations, the vector calculation unit 2507 can store the processed output vector to the unified memory 2506. For example, the vector calculation unit 2507 may apply a linear function and/or a nonlinear function to the output of the arithmetic circuit 2503, such as linear interpolation of the feature planes extracted by the convolutional layers, and further such as a vector of accumulated values to generate an activation value. In some implementations, the vector calculation unit 2507 generates normalized values, pixel-level summed values, or both. In some implementations, the vector of processed outputs can be used as activation inputs to the arithmetic circuitry 2503, e.g., for use in subsequent layers in a neural network.

An instruction fetch buffer 2509 connected to the controller 2504, configured to store instructions used by the controller 2504;

the unified memory 2506, the input memory 2501, the weight memory 2502, and the instruction fetch memory 2509 are all On-Chip memories. The external memory is private to the NPU hardware architecture.

The operation of each layer in the recurrent neural network can be performed by the operation circuit 2503 or the vector calculation unit 2507.

Where any of the aforementioned processors may be a general purpose central processing unit, microprocessor, ASIC, or one or more integrated circuits configured to control the execution of the programs of the methods of fig. 5-10B, as described above.

It should be noted that the above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments of the apparatus provided in the present application, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be implemented as one or more communication buses or signal lines.

Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus necessary general-purpose hardware, and certainly can also be implemented by special-purpose hardware including special-purpose integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, the implementation of a software program is more preferable. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.

The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Claims

1. A data transmission method applied to a vehicle, wherein the vehicle includes at least two area integrated units (VIUs), communication connections are established between the at least two VIUs and a control device, the control device and the at least two VIUs access a same multicast group, and time synchronization is performed between the at least two VIUs, and the method includes:

a first VIU acquires the monitored information, wherein the first VIU is any one of the at least two VIUs;

and the first VIU transmits a multicast message through the multicast group according to a time axis after time synchronization, wherein the multicast message comprises information detected by the first VIU, so that the control equipment acquires the multicast message by monitoring the multicast group, and the multicast message is used for analyzing the state of the vehicle by the control equipment.

2. The method of claim 1, wherein the control device and the at least two VIUs establish an Ethernet connection and/or a wireless communication connection;

the first VIU transmits the multicast message through the multicast group, and the method comprises the following steps:

and the first VIU transmits the multicast message to the multicast group through the Ethernet connection and/or the wireless communication connection.

3. The method of claim 1 or 2, wherein the first VIU transmitting the multicast message to a multicast group comprises:

and the first VIU periodically sends the multicast message.

4. The method of claim 1 or 2, wherein the information monitored by the first VIU comprises one or more of:

status information of the first VIU, information of an I/O interface of the first VIU, raw sampling values of an analog-to-digital conversion ADC in the first VIU, or information collected by a sensor monitored by the first VIU.

5. The method of claim 4, wherein the information collected by the sensor is used by the control device to plan a driving path of the vehicle.

6. The method of claim 1 or 2, wherein prior to the first VIU transmitting the multicast message to the multicast group, the method further comprises:

the first VIU receives a joining request sent by the control equipment, wherein the joining request is used for requesting to join the multicast group;

and the first VIU replies a multicast address to the joining request so that the control equipment joins in the multicast group through the multicast address, monitors a port corresponding to the multicast address and receives the multicast message.

7. The method according to claim 1 or 2, characterized in that the method further comprises:

the first VIU receives a control instruction sent by the control equipment;

the first VIU controls one or more of an I/O interface, a sensor, or an actuator of a vehicle of the first VIU according to the control command.

8. A data transmission method is applied to a vehicle, the vehicle comprises at least two area integrated units (VIUs), communication connection is established between the at least two VIUs and a control device, and the control device and the at least two VIUs access the same multicast group, and the method comprises the following steps:

the control equipment acquires a multicast address of the multicast group;

the control device monitors a port corresponding to the multicast address and acquires at least one frame of multicast message through the port, wherein the multicast message comprises information monitored by a first VIU of the at least two VIUs, the first VIU is any one of the at least two VIUs, and the multicast message is sent by the at least two VIUs on a synchronized time axis after time synchronization;

the control device analyzes the state of the vehicle through the at least one frame of the multicast message.

9. The method of claim 8, wherein the control device and the at least two VIUs establish an Ethernet connection and/or a wireless connection;

the obtaining at least one frame of multicast packet through the port includes:

and the control equipment receives the multicast message transmitted in the multicast group through the Ethernet connection and/or the wireless connection.

10. The method according to claim 8 or 9, wherein the at least one multicast message comprises one or more of:

status information of the at least two VIUs, information of I/O interfaces of the at least two VIUs, raw sampling values of analog-to-digital conversion ADCs in the at least two VIUs, or information collected by sensors monitored by the at least two VIUs.

11. The method of claim 10, wherein when the at least one multicast message includes information collected by sensors monitored by the at least two VIUs, the method further comprises:

and the control equipment plans the driving path of the vehicle according to the information acquired by the sensors monitored by the at least two VIUs.

12. The method according to claim 8 or 9, wherein said obtaining at least one frame of multicast packet through said port comprises:

and the control equipment periodically receives at least one frame of multicast message transmitted to the multicast group by the at least two VIUs through the port.

13. The method according to claim 8 or 9, wherein the controlling device obtaining the multicast address of the multicast group comprises:

the control equipment sends a joining request to the first VIU, wherein the joining request is used for requesting to join the multicast group;

and the control equipment receives the multicast address replied by the first VIU.

14. The method according to claim 8 or 9, wherein after the control device analyzes the state of the vehicle through the at least one frame of the multicast message, the method further comprises:

the control device generates an analysis image according to a change over time in the state of the vehicle, and displays the analysis image.

15. The method according to claim 8 or 9, characterized in that the method further comprises:

the control device sends control instructions to at least two VIUs, the control instructions being used to control one or more of I/O interfaces, sensors, or actuators of the at least two VIUs.

16. An area integrated unit (VIU), applied to a vehicle, the vehicle including at least two VIUs, a first VIU being any one of the at least two VIUs, the at least two VIUs establishing communication connections with a control device, the control device and the at least two VIUs accessing a same multicast group, the at least two VIUs having been time-synchronized with each other, the VIU comprising:

the monitoring module is used for acquiring monitored information;

and the transceiver module is used for transmitting a multicast message through the multicast group according to the synchronized time axis, wherein the multicast message comprises information detected by the VIU, so that the control equipment acquires the multicast message by monitoring the multicast group, and the multicast message is used for analyzing the state of the vehicle by the control equipment.

17. The VIU of claim 16, wherein the control device and the at least two VIUs establish an Ethernet connection and/or a wireless communication connection;

the transceiver module is specifically configured to transmit the multicast packet in the multicast group through the ethernet connection and/or the wireless communication connection.

18. The VIU of claim 16 or 17, wherein,

the transceiver module is specifically configured to periodically send the multicast packet.

19. The VIU of claim 16 or 17, wherein the information monitored by the monitoring module comprises one or more of:

the information of the state of the VIU, the information of the I/O interface of the VIU, the original sampling value of an analog-digital conversion ADC in the VIU or the information collected by a sensor monitored by the VIU.

20. The VIU of claim 19, wherein the information collected by the sensors is used by the control device to plan a driving path of the vehicle.

21. The VIU of claim 16 or 17, wherein prior to the transceiver module transmitting the multicast message to the multicast group, the transceiver module is further configured to:

receiving a joining request sent by the control device, wherein the joining request is used for requesting to join the multicast group;

and replying a multicast address according to the joining request so as to enable the control equipment to join the multicast group through the multicast address, monitor a port corresponding to the multicast address and receive the multicast message.

22. The VIU of claim 16 or 17, further comprising: a control module;

the transceiver module is further configured to receive a control instruction sent by the control device;

the control module is used for controlling one or more of an I/O interface, a sensor or an actuator of a vehicle of the first VIU according to the control instruction.

23. A control device for a vehicle, the vehicle including at least two area integrated units, VIUs, the at least two VIUs and the control device establishing communication connections, the control device and the at least two VIUs accessing a same multicast group, the control device comprising:

the receiving and sending module acquires the multicast address of the multicast group;

a monitoring module, configured to monitor, by the control device, a port corresponding to the multicast address;

the transceiver module is further configured to acquire at least one frame of multicast packet through the port, where the multicast packet includes information monitored by a first VIU of the at least two VIUs, where the first VIU is any one of the at least two VIUs, and the multicast packet is sent by the at least two VIUs on a synchronized timeline after time synchronization;

and the processing module is used for analyzing the state of the vehicle through the at least one frame of the multicast message.

24. The control device of claim 23, wherein the control device and the at least two VIUs establish an Ethernet connection and/or a wireless connection;

the transceiver module is specifically configured to receive the multicast packet transmitted in the multicast group through the ethernet connection and/or the wireless connection.

25. The control device according to claim 23 or 24, wherein the at least one multicast message comprises one or more of:

26. The control device of claim 25, wherein when the at least one multicast message includes information collected by the at least two sensors monitored by the VIU, the processing module is further configured to plan a driving path of the vehicle according to the information collected by the at least two sensors monitored by the VIU.

27. The control apparatus according to claim 23 or 24,

the transceiver module is specifically configured to periodically receive, through the port, at least one frame of multicast packet transmitted to the multicast group by the at least two VIUs.

28. The control device according to claim 23 or 24, wherein the transceiver module is further configured to:

sending a join request to the first VIU, wherein the join request is used for requesting to join the multicast group;

and receiving the multicast address replied by the first VIU.

29. The control apparatus according to claim 23 or 24, characterized by further comprising: a display module;

after the control device analyzes the state of the vehicle through the at least one frame of multicast message, the processing module is further configured to generate an analysis image according to a change of the state of the vehicle over time;

the display module is used for displaying the analysis image.

30. The control apparatus according to claim 23 or 24,

the transceiver module is further configured to send a control instruction to at least two VIUs, where the control instruction is used to control one or more of I/O interfaces, sensors, or actuators of the at least two VIUs.

31. An area integrated unit, VIU, comprising a processor;

the processor obtaining program instructions through the communication interface, which when executed by the processing unit implement the method of any one of claims 1-7; alternatively, the first and second electrodes may be,

coupled to the processor and a memory storing a program that when executed by the processor implements the method of any of claims 1 to 7.

32. A control device, comprising a processor;

the processor obtaining program instructions through the communication interface, which when executed by the processing unit implement the method of any one of claims 8-15; alternatively, the first and second electrodes may be,

coupled to the processor and a memory storing a program that when executed by the processor implements the method of any of claims 8 to 15.

33. A computer readable storage medium comprising a program which, when executed by a processing unit, performs the method of any of claims 1-7 or 8-15.

34. A vehicle, characterized in that the vehicle comprises at least two VIUs, communication connections are established between the at least two VIUs and a control device, and the control device and the at least two VIUs access the same multicast group;

the at least two VIUs to perform the method of any of claims 1-7;

the control device is adapted to perform the method of any of claims 8-15.

35. An electronic device comprising a display screen, memory having stored therein code for a Graphical User Interface (GUI) for an application, one or more processors to execute the code for the GUI stored in the memory to display the GUI in the display screen, the GUI comprising:

displaying a multicast address of a multicast group on the display screen, wherein the multicast group comprises at least two VIUs;

responding to the confirmation operation aiming at the multicast address, receiving at least one frame of multicast message transmitted by the at least two VIUs in the multicast group, and displaying the information included in the at least one frame of multicast message in the display screen, wherein the multicast message is sent by the at least two VIUs after time synchronization on a synchronized time axis.

36. The electronic device of claim 35, wherein the graphical user interface specifically comprises:

displaying one or more of status information of the at least two VIUs, information of I/O interfaces of the at least two VIUs, raw sampling values of analog-to-digital conversion ADCs in the at least two VIUs, or information collected by sensors monitored by the at least two VIUs.

37. The electronic device according to claim 35 or 36, wherein the graphical user interface specifically comprises:

the analysis image is displayed in response to generation of the analysis image according to a change over time in a state of the vehicle.